CN113100690A - In-vivo micro-robot device, and optimized treatment regulation and control system and method - Google Patents

In-vivo micro-robot device, and optimized treatment regulation and control system and method Download PDF

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CN113100690A
CN113100690A CN202110343943.4A CN202110343943A CN113100690A CN 113100690 A CN113100690 A CN 113100690A CN 202110343943 A CN202110343943 A CN 202110343943A CN 113100690 A CN113100690 A CN 113100690A
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treatment
vivo
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robot
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不公告发明人
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Tan Sicong
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Tan Sicong
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Priority to AU2022252507A priority patent/AU2022252507A1/en
Priority to PCT/CN2022/000044 priority patent/WO2022206083A1/en
Priority to CN202280024177.8A priority patent/CN117545443A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
    • A61M31/007—Injectors for solid bodies, e.g. suppositories
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    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
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    • A61M2205/00—General characteristics of the apparatus
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    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N2005/1019—Sources therefor
    • A61N2005/1024—Seeds

Abstract

A micro in-vivo robot device, an optimized control system and a method utilize artificial intelligent robot technology, and relate to the technical field of micro robots, intelligent analysis and identification, radio frequency electromagnetic positioning and the like. The micro-robot device in vivo is delivered into the body through natural body cavities such as oral cavity, nasal cavity, auditory canal, navel, vagina, anus and the like, and through radio frequency, electromagnetism and magnetic guidance, the risk of external operation is reduced, and the basic non-invasive internal examination and operation are realized. Internal vision device, external imaging device realize two accurate discernment human organs, damaged tissue, divide the high accurate discernment in normal region and damaged region, high accurate location, accurate offeing medicine realizes the internal state of an illness optimization regulation and control, has effectively solved slowly, and the treatment is difficult, and the effect is poor, and the offeing medicine is not accurate, and the precision of operation requires highly, reduces the risk of external operation, realizes basically atraumatic, real-time supervision, and optimal control effectively prevents internal major diseases.

Description

In-vivo micro-robot device, and optimized treatment regulation and control system and method
The technical field is as follows:
the invention belongs to the technical field of artificial intelligent robot health medical equipment, and relates to the fields of micro-robot technology, artificial intelligent image intelligent identification, remote control, optimization related theories and technology.
Background art:
at present, the method is applied to the medical field, and the disease identification of organs is inaccurate due to various human factors in the organ examination and operation process. The diagnosis under the in vitro image is not accurate enough, and the damaged position, damaged range and damaged degree of the organ can not be diagnosed and measured with high precision.
The indexes of medical data in vivo such as organ and tissue damage are seriously unbalanced, the real-time monitoring of the data in vivo is difficult, particularly for serious diseases, tumors and other diseases, the medical data in vitro ultrasonic examination and other tests such as physical examination and the like are not accurate enough, and the illness state of a patient cannot be completely and completely judged. The requirement on the accuracy of the operation is high, various data in the blood vessel cannot be monitored in real time, the discovery of the stenosis, plaque, embolism and the like of the blood vessel is slow, the treatment is difficult, the effect is poor, the administration of the medicine for treating the embolism is not accurate, and the maintenance of smooth and good blood circulation becomes an important subject.
The medical instrument can be delivered into the human body through natural cavities of the oral cavity, the nasal cavity, the auditory canal, the navel, the vagina, the anus and the like, radio frequency, electromagnetism and magnetism, so that the risk of external operation is reduced, the basic non-trauma is realized, the in-vivo real-time monitoring is realized efficiently, and the in-vivo state of an illness is controlled optimally.
The in vivo vision device, external imaging device realize high accurate internal image of gathering, and the damaged tissue of supplementary discernment in intelligent recognition, tumour and its position of location. The high-precision identification of the human organs, damaged tissues, normal areas and damaged areas is divided.
And the multi-sensing module is used for monitoring the environment in the body in real time.
The administrator's distal end control, through the internal formation of image of camera, and the damaged tissue of external formation of image guiding device accurate positioning, damaged tissue area and normal tissue area are divided to the accuracy, according to damaged degree, adopt the distal end to control the miniature tweezers of internal miniature robot device built-in, miniature pliers, the scalable felting needle of puncture, miniature electrotome, miniature electricity congeals the device, miniature cauterization device, the radio frequency device, laser device realizes miniature cutting and sews up, the puncture, burn, laser cutting, the target treatment.
By utilizing the optimized medicine determination and the quantitative method thereof and the optimized administration planning method of the radioactive medicine, the multi-objective optimization of comprehensive indexes is realized, the medicine and the quantitative amount thereof are regulated, and the optimized regulation and control of the internal disease condition are realized.
The micro-robot in the body is used for assisting in identifying diseases, monitoring the illness state in the body in real time, controlling and solving the diseases in the body in an optimized drug application mode, solving the noninvasive micro-operation in the body, realizing laser, ablation, targeted therapy and accurate drug administration, and effectively preventing serious diseases in the body.
The invention content is as follows:
the present invention is directed to overcoming the above-mentioned drawbacks and deficiencies of the prior art and providing a micro-robotic device for use in vivo that may be non-invasively introduced into the body by magnetic guidance, reducing the risk of extracorporeal surgery. A substantially atraumatic procedure is achieved. The double imaging devices can intelligently identify diseases, and human diagnosis and treatment errors are reduced. The sensor collects data in real time, optimizes drug administration, monitors in-vivo data in real time, tracks the effect of in-vivo treatment in real time, dynamically regulates and controls the drugs and the drug amount in vivo in an optimized manner, accurately administers the drugs, and effectively solves the problems of tumor, tissue injury and the like.
The invention provides a remote control of an administrator, which accurately positions damaged tissues through in-vivo imaging of a camera and an in-vitro imaging guide device, accurately divides the damaged tissue region and a normal tissue region, and implements treatment according to the damage degree.
The invention also provides a noninvasive in-vivo operation method with high precision positioning and remote control and a remote and autonomous administration method, wherein the noninvasive in-vivo operation method utilizes the optimized medicine determination and quantification method and the optimized administration planning method of the radioactive medicine to realize the multi-objective optimization of comprehensive indexes, regulate and control the medicine and the quantification thereof and realize the optimized regulation and control of in-vivo conditions.
The system realizes non-invasive micro operation, laser, ablation, targeted therapy and accurate drug administration in vivo, effectively treats serious diseases in vivo, and solves clinical cases efficiently and flexibly through remote control of the micro robot and image recognition.
The technical scheme adopted by the invention is as follows:
an intrabody micro-robotic device, optimized therapeutic regulation system and method, comprising:
a master control system for controlling the in vivo micro robotic device. The intracorporeal micro robot device includes: the device comprises a visual identification module, a multi-sensor module, an illuminating device, an in-vivo walking driving device, a puncturing device, a telescopic puncture needle, a pressure device, a surgical examination processing device, an ultrasonic microelectrode array, a miniature ultrasonic probe device, a particle implantation device, a support, a soft support, a fixing device and an accurate dosing device.
An in vitro imaging apparatus for in vitro imaging, comprising: ultrasonic imaging, CT imaging, X-ray imaging and the like.
The miniature camera and the visual recognition module in vivo are used for collecting images in vivo, assisting in recognizing damaged tissues and tumors in vivo and positioning the positions of the damaged tissues and the tumors.
Light, illuminator, used for internal illumination, make a video recording and examine.
A multi-sensing module comprising: one or more of various sensors such as micro-biosensing, comprehensive gene sensing and the like are used for collecting the information of the sensor in vivo.
The driving device is used for driving the robot to move in the body in a direction without damage and with controllable speed.
The guide, the location, mobile device is connected with external imaging device, and through the internal micro robot location of external imaging system guide, remove, supplementary internal image of gathering, supplementary discernment internal damaged tissue, the internal damaged tissue of tumour and guide internal micro robot location, tumour. The positioning and guiding device comprises: RF radio frequency devices (external transmitter and internal receiver), electromagnetic guiding devices (electromagnetic devices such as external electromagnetic controller and internal micro coil), magnetic guiding devices (external magnetic controller and internal micro coil), etc. perform internal and external communication, guide the internal robot positioning, and move devices.
The soft support and the fixing device are used for swimming in vivo, stopping temporarily, damaging tissues and fixing the tumor position during surgical treatment.
A telescopic in vivo examination, surgical treatment apparatus comprising: one or more of a micro-tweezers, a micro-forceps, a puncture needle for puncture, a micro-electrotome, a micro-electrocoagulation device, a micro-cauterization device, a radio frequency device and a laser device. Used for in vivo examination, puncture, operation and ablation treatment.
Retractable treatment, accurate administration set, retractable treatment device for damaged tissue, drug particle implantation, placement device for radiation treatment, radioactive particle implantation treatment, and the like. The telescopic accurate dosing device is used for positioning damaged tissues and positions of tumors, calculating the damaged tissues, the sizes and the damage degrees of the tumors, accurately dosing, and is used for accurately dosing, dosing carcinogenic site drugs, specific tumor cell target dosing therapy, radiotherapy, radioactive particle implantation therapy and other various accurate dosing therapies.
Through organs such as oral cavity, nasal cavity, duct, navel, vagina, anus, internal guiding device such as electromagnetism, radio frequency, magnetism remove the location, it is high to reduce the big risk of external operation wound, realizes basically atraumatic, internal inspection, operation, has realized internal real-time supervision high-efficiently, the internal state of an illness of optimal control.
The two accurate imaging methods adopt the cooperation of the internal camera and the visual recognition module of the miniature camera and the external imaging device, and the high-precision collection, the auxiliary recognition of organs, damaged tissues, images of tumors and the like, and the accurate recognition of damaged tissues and normal tissue areas are realized. The internal camera and the visual recognition module are used for collecting internal images, assisting in recognizing internal damaged tissues and tumors and positioning the internal damaged tissues and tumors. The visual recognition module comprises: one of the miniature endoscope, the miniature microscope and other in-vivo imaging devices works in cooperation with a plurality of types and the 3D imaging system and the in-vitro imaging guiding device to acquire and intelligently identify images of various in-vivo diseases.
The driving device drives the robot to move in the body in a direction without damage and with controllable speed. The in vivo treatment is completed by using a soft bracket and a fixing device for temporary fixing, assisting an in vivo robot to perform operation, detecting damaged tissues and the like. Utilize the location, guiding device is connected with external imaging device, leads internal micro robot location through external imaging system, removes, and supplementary internal image of gathering assists the internal damaged tissue of discernment, the internal damaged tissue of tumour and guide internal micro robot location, tumour. The driving device is used for driving the micro-machine to move in the human body, walk and swim. The drive device includes: current drive, electromagnetic drive and magnetic drive. The positioning and guiding device comprises: RF radio frequency devices (external transmitter and internal receiver), electromagnetic guiding devices (electromagnetic devices such as external electromagnetic controller and internal micro coil), magnetic guiding devices (external magnetic controller and internal micro coil), etc. perform internal and external communication, guide the internal robot positioning, and move devices. Soft support and fixing device for in vivo tissue examination, damaged tissue, and fixation of tumor position during operation.
The multi-sensing module monitors the internal environment in real time. The multi-sensing includes: the sensor is one or more of micro biological sensor, micro medical sensor, comprehensive gene sensor and other sensors, and is used for acquiring the information of the sensor in vivo and monitoring the environment in vivo in real time. The body environment includes: the in vivo immune environment and the tumor treatment microenvironment, and the in vivo environment during the monitoring period.
In vivo examination, surgical treatment device. A surgical examination processing apparatus comprising: one or more of a micro forceps, a puncture telescopic puncture needle, a micro electrotome, a micro electrocoagulation device, a micro cauterization device, a radio frequency device and a laser device. Is used for examination, puncture and operation. Through the internal formation of image of camera, and the external damaged tissue of formation of image guider accurate positioning, damaged tissue area and normal tissue area are divided to the accuracy, according to damaged degree, adopt the distal end to control the built-in miniature tweezers of internal miniature robot device, miniature pliers, the scalable felting needle of puncture, miniature electrotome, miniature electricity congeals the device, miniature cauterizing the device, the radio frequency device, laser device realizes cutting, sews up, the puncture, burns, laser cutting, the target treatment.
The telescopic treatment, accurate device of offeing medicine, particle implantation device and according to damaged position, damaged regional size, the medicine ration optimization method of damaged degree realize accurately offeing medicine, accurate target treatment, and damaged tissue region and normal tissue region are accurately divided and are realized offeing medicine side effect minimum, the effect of offeing medicine is optimized. The telescopic accurate dosing device is used for positioning damaged tissues and positions of tumors, calculating the damaged tissues, the sizes and the damage degrees of the tumors, accurately dosing, and is used for accurately dosing, dosing carcinogenic site drugs, specific tumor cell target dosing therapy, radiotherapy, radioactive particle implantation therapy and other various accurate dosing therapies.
Double-precision positioning of organs and damaged tissues and double-precision identification method. The in vivo vision device, the two accurate discernment human organs of external image device, damaged tissue divide the high accurate discernment in normal region and damaged region.
The method for identifying internal organs under endoscope comprises the following steps:
s1, establishing the external imaging image and the characteristic model of the contour, shape, texture, color, size and the like of the human organ under the internal microscope.
S2, establishing various disease models such as damaged tissue inflammation, tumor, cyst and the like.
And S3, extracting the internal contours of organs of the in-vitro imaging image and the in-vivo microscopic image, and the characteristic values of each organ and the external position area of the human body corresponding to the external characteristics.
S4, inputting the characteristic values of the internal organ images of the human body corresponding to the external characteristic values of the organs of the in-vitro imaging images and the images under the in-vivo microscope, improving a deep neural network method and a weight optimizer, and obtaining output values, internal organ classification and organ recognition results through image training.
And S5, outputting a result, accurately classifying, and identifying the human organ images under the in vitro imaging and in vivo microscope.
The method for matching, positioning and accurately dividing the disease position and the normal tissue of the damaged tissue by the robot through double images comprises the following steps:
s1, distributing the organ position area and coordinate boundary of the microscope image in vivo by the micro robot, and subscribing the distributed image and position coordinate by the robot main system and the intelligent identification module.
S2, the in vitro imaging system module publishes the position area and the coordinate boundary of the organ of the in vitro imaging image, and the robot main system and the intelligent identification module subscribe the published image and the position coordinate.
And S3, establishing coordinate reference transformation of the double images under the robot main control system by using a coordinate transformation method, and matching the organs and the coordinate positions of the double images of each organ.
S4, establishing a model of the damaged tissue inflammation, tumor, cyst and other diseases of the image under the in vivo microscope.
S5, establishing models of various diseases such as image damaged tissue inflammation, tumor, cyst and the like under an in vitro imaging system.
S6, extracting the internal contour of the image organ under the in vitro imaging image and the in vivo microscope, the characteristic value under the disease model, the corresponding position area and the position coordinate.
S7, recognizing the disease under the dual-system image by using the improved neural network method and the weight optimizer, labeling and drawing the disease position area and size under the dual-system image, and returning to the position coordinate.
S8, the intelligent recognition module outputs the disease type, the disease organ and the position area of the abnormal disease under the organ, and returns the recognition result to the main control system.
The optimized method is adopted to regulate and control the medicine and the treatment method. The specific steps of regulation and control are as follows:
drug regulation includes: drug selection, drug dosage and drug cycle. The method of modulating therapy comprises: the treatment modes comprise internal operation, common medicine precision treatment, target treatment, radiotherapy, radioactive particle implantation treatment, ablation treatment and the like. Setting the comprehensive indexes of various treatments as multiple targets, and optimizing and controlling the treatment scheme. The optimization method comprises the following steps: one or more of a genetic calculation method and an improvement method thereof, a tabu search calculation method and an improvement method thereof, a simulated annealing calculation method and an improvement method thereof, an ant colony calculation method and an improvement method thereof, a calculation method for particle beam optimization and an improvement method thereof, a neural network calculation method and an improvement method thereof, an evolution method and an improvement method thereof. By combining the static treatment effect prediction and the real-time dynamic treatment method, the medicine method is optimized, the medicine amount is regulated, the carcinogenic site and the specific tumor cell are accurately positioned, and the medicine is put in, so that the optimized regulation and treatment is realized.
S1, monitoring indexes of immune environment inside a body, wherein the indexes of a tumor treatment microenvironment are constants.
Optimal immune environment inside the body-sum of absolute values of the difference of the monitoring index and the standard index.
Optimal tumor treatment microenvironment-the sum of absolute values of the difference between the monitoring index and the standard index and the weight.
S2, main treatment methods (internal operation, common medicine precision treatment, target point treatment, radiotherapy, radioactive particle implantation treatment, ablation treatment and other treatment modes)
And the selection of the drugs, the dosage and the time period of the drugs for the common drug therapy are variables.
S3, respectively establishing a mathematical model of the immune environment in the body, an optimal mathematical model of the tumor treatment microenvironment and a mathematical model of the side effect of the tumor treatment,
the mathematical model of drug arrival is as follows:
variables are as follows:
classification of drugs: main therapeutic drug (main drug)mm∈{1，2，....M})
General mediation medicine (drug)n n∈{1，2，....N})
Main drug delivery m with main curative effect
Figure BSA0000237968380000051
Main drug without main drug administration
Figure BSA0000237968380000052
Drug delivery n for common drugs
Figure BSA0000237968380000053
Drug n without application of common drug
Figure BSA0000237968380000054
Number of main drugs administered
Figure BSA0000237968380000055
Number of ordinary medicines to be administered
Figure BSA0000237968380000056
Treatment cycle (t)t t∈{1，2，....T}).
Refractory parameters of treatment cycle
Figure BSA0000237968380000057
Disease (D)d d∈{1，2，....D}).
Number of damage points
Figure BSA0000237968380000058
Size of damaged tissue region
Figure BSA0000237968380000059
Extent of disease/extent of damage
Figure BSA00002379683800000510
Parameters of treatment method
Including major treatment methods (hard treatment index)
Figure BSA0000237968380000061
) And common drug therapy method
Figure BSA0000237968380000062
Basic Effect of disease treatment
Figure BSA0000237968380000063
Monitor index monitoreE belongs to {1, 2.. E }, and monitors the real-time index monitore-realtimeMonitor index standard monitore-std
Side effect monitoring indicator monitorsub-b b∈{1，2，....B}.
drugnImmunopotency parameters
Figure BSA0000237968380000064
main drugmMicroenvironment efficacy parameter (C
Figure BSA0000237968380000065
main drugmNegative index efficacy of side effects of tumor treatment
Figure BSA0000237968380000066
● the internal immune environment is optimal:
Figure BSA0000237968380000067
● tumor therapy microenvironment is optimal:
Figure BSA0000237968380000068
● side effects of tumor treatment are minimal:
Figure BSA0000237968380000069
● medication reached optimal:
Figure BSA00002379683800000610
the planned application amount is mostly the medicines of radiation medicine, targeted medicine, chemotherapy medicine and the like.
● shortest treatment period:
Figure BSA00002379683800000611
s4, the restriction conditions comprise:
1) the maximum dosage of the medicine in the time period is within the upper limit range
2) The longest service life of the medicine
3) Within the standard range of the medication cycle
4) Within the region of the damaged tissue
5) The maximum side effects in the treatment period
6) Meets the basic medication curative effect of the disease.
7) Meets the basic dosage of the medicine.
S5, multiple targets comprise:
the immune environment inside the body is optimal, and the immune environment inside the body is optimal,
microenvironment optimization for tumor therapy
Has minimal side effects
Drug arrival optimality
Shortest treatment period
MIN(F)
Figure BSA0000237968380000071
S6, optimizing and controlling the medicament and the medicament amount, accurately positioning carcinogenic sites, specificity tumor cells and putting the medicament to realize optimized regulation and control treatment by combining one or more optimization methods through static treatment effect prediction and real-time dynamic treatment method medicament adjustment methods.
And S7, outputting the medicine and the medicine dosage in different time periods.
A highly accurately positioned, remotely controlled method of non-invasive intra-body surgery and method of remote and autonomous administration, said method comprising the steps of:
s1, the main control system issues the disease image and the position information of the damaged organization.
And S2, the robot driving module, the radio frequency receiver or the electromagnetic guiding autonomous positioning mobile module subscribes the position message.
And S3, the radio frequency receiver or the electromagnetic guiding magnet guides the self-positioning moving module to guide the magnetic device in the body to drive the micro robot to move to the position of the damaged tissue.
S4, according to the in vivo vision device and the disease image of the in vitro imaging device issued by the main control system, the double-precision positioning and double-precision identification method of the organ and the damaged tissue according to claim 7. The normal area and the damaged area are divided with high precision.
And S5, determining the operation range, the administration position range and the coordinates of the operation range, the administration position range and the administration position range which define the damaged area.
And S6, issuing an action planning instruction message according to the main control system, checking the surgical device by the robot, and subscribing the instruction message by the robot treatment device.
Further, the action planning module comprises a robot inspection operation action plan and a robot treatment dosing action plan.
S7, step S6, the robot checks the surgical device module, images in the camera body, and the in-vitro imaging guiding device accurately positions the damaged tissue, accurately divides the damaged tissue area and the normal tissue area, and according to the damaged degree. The medical doctor remote end controls built-in miniature tweezers, miniature pliers, puncture telescopic puncture needles, miniature electrotomes, miniature electrocoagulation devices, miniature cauterization devices, radio frequency devices, laser devices and other surgical devices, and the operation of damaged tissue inspection and operation execution is realized by cutting, suturing, puncturing, cauterizing, electrotome, laser cutting and targeted therapy.
S8, step S6, the robot treatment medication administration planning module images in the camera body, and the in-vitro imaging guiding device accurately positions the damaged tissue, accurately divides the damaged tissue area and the normal tissue area, and according to the damage degree.
S9, planning the quantity of the applied radiopharmaceuticals (chemotherapeutics) by using the method for adjusting and controlling the multi-objective optimization of the comprehensive therapeutic index according to claim 9, planning the seeding paths of the radiopharmaceuticals, and returning the dosing paths and the coordinates of the seeding points.
And S10, the main control system issues the dosing route and the coordinates of the positions of the seeding points, the doctor remotely controls and autonomously controls the dosing device, and the dosing device is moved to the seeding points for dosing to implement dosing.
And S11, returning to the completion of the task.
In conclusion, the beneficial effects of the invention are as follows:
the invention can solve the problems of remote control of the micro-robot through the micro-robot device, magnetic guide movement, intelligent identification of organs, diseases and damaged tissues, positioning of the organs and movement to the organs and the diseases in the body by using the double visual identification device, and ablation and treatment of the diseases in the body by using the micro-operation device, the laser emission device and the radio frequency device.
A high-precision positioning and remote control noninvasive in-vivo operation method and a remote and autonomous drug administration method solve and effectively utilize an optimized drug administration device to complete optimization of treatment by calculating drugs, drug dosage and drug period.
The doctor remote end controls built-in miniature tweezers, miniature pliers, puncture telescopic puncture needles, miniature electrotomes, miniature electrocoagulation devices, miniature cauterization devices, radio frequency devices, laser devices and other operation devices in vivo to check and execute operation, so that cutting, suturing, puncturing, cauterizing, laser cutting and targeted therapy are realized.
The problems of more operation errors of doctors, nurses and other personnel are solved, and the working efficiency is greatly improved. The invention can monitor and control the in-vivo state in real time through an optimized control system, thereby realizing the optimal in-vivo treatment.
Description of the drawings:
FIG. 1 is a schematic diagram of a module of a micro-robotic device of the present specification, with reference to FIG. 1:
101-a master control system; 102-multiple sensing modules; 103-an in vivo camera vision module, an illumination module; 104-a boot module;
105-soft support fixing means; 106-internal walking driving support; 107-intracorporeal examination surgery module; 108-a therapy module;
109-precision dosing module; 110-an in vitro imaging system; 111-a remote control module;
FIG. 2 is a schematic diagram of the construction of the micro-robotic device in the present specification, with reference to FIG. 2:
201-a vision device; 202-a camera; 203-an intracorporeal guiding device; 204-a microsurgical device;
205-a treatment device; 206-multiple sensing; 207-drive means; 208-telescoping support, fixation device;
209 — the master control system; 210-an in vitro imaging system; 211-an extracorporeal guidance device; 212 a precision medication administration device;
Detailed Description
The invention aims to design a remote-control in-vivo micro-robot device which replaces human work, realize in-vivo real-time monitoring and non-invasive treatment, intelligently identify images of organs, diseases and damaged tissues by using a double-vision identification device, and effectively improve the accuracy of the operation.
High-precision positioning of double-precision images and remote control of noninvasive in-vivo surgery.
The optimized administration device is effectively utilized, and the optimization of treatment is realized by calculating the medicine, the medicine dosage and the medicine period.
The doctor remote end controls built-in miniature tweezers, miniature pliers, puncture telescopic puncture needles, miniature electrotomes, miniature electrocoagulation devices, miniature cauterization devices, radio frequency devices, laser devices and other operation devices in vivo to check and execute operation, so that cutting, suturing, puncturing, cauterizing, laser cutting and targeted therapy are realized.
The device effectively solves the errors of artificial diagnosis, treatment and operation, realizes remote control operation and autonomous administration. In order to better understand the technical solutions, the present invention will be further described in detail with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
The technical scheme in the implementation of the application is as follows for solving the technical problems:
through micro robot's main control system, utilize two vision recognition device intelligent recognition organs, the disease, the bad damage tissue, the internal bad damage tissue of micro robot location, two accurate division bad damage tissue area and normal tissue area, location, removal.
The remote control of administrator, the operation of not having wound in vivo, high accurate location, the remote control in vivo miniature robot built-in miniature tweezers, miniature pliers, the scalable felting needle of puncture, miniature electrotome, miniature electricity congeals the device, miniature cauterization device, the radio frequency device, operation devices such as laser device inspection and execution operation realize the cutting and sew up, puncture, burn, laser cutting, the treatment of target.
And (3) remote and autonomous administration, and by utilizing an optimized administration device, the treatment optimization is realized by calculating the medicine, the medicine dosage and the medicine period.
Example 1:
as shown in fig. 1 and 2, a micro-robot apparatus includes:
a main control system 101, said main control system 101 being for controlling the in vivo micro robotic device. The intracorporeal micro robot device includes: the system comprises a visual identification module 103, a multi-sensor module 102, an illuminating device 103, an in-vivo walking driving device 106, a puncture device, a telescopic puncture needle, a pressure device, a surgical examination processing device, a treatment device 108, a support, a soft support, a fixing device 107 and an accurate dosing device 111.
External formation of image 110, guiding device for external formation of image, through the independent location removal of external imaging system guide internal micro robot, supplementary internal image of gathering, supplementary discernment internal damaged tissue, the internal damaged tissue of tumour and guide internal micro robot location, tumour.
The in vivo miniature camera and vision recognition module 102 is used for collecting in vivo images, assisting in recognizing damaged tissues and tumors in vivo and locating the positions of the damaged tissues and tumors.
The light source illumination device 103 is used for in-vivo illumination and imaging examination.
A multi-sensing module 102 comprising: one or more of various sensors such as micro-biosensing, comprehensive gene sensing and the like are used for collecting the information of the sensor in vivo.
The driving device 106 is used for driving the micro-machine to move in the human body.
The ultrasonic microelectrode array is used for acquiring ultrasonic images.
In vivo examination, surgical treatment apparatus 107 includes: one or more of micro tweezers, micro forceps, a puncture telescopic puncture needle, a micro electric knife, a micro electric coagulation device, a micro cauterization device, a radio frequency device and a laser device are used for inspection, puncture and operation.
A treatment device 108 for use in the destruction of tissue in which the oncology drug is placed prior to implantation.
A soft support, a fixing device 105, used for fixing the operation treatment of the internal walking, the damaged tissue and the tumor position.
The precise dosing device 111 is used for positioning the damaged tissue and the tumor, calculating the damaged tissue, the size and the damage degree of the tumor, precisely dosing and dosing.
Example 2:
as shown in fig. 2, the intravascular images are collected in real time, the intravascular image data and the intelligent sensor data disease identification are implemented as follows:
the method for identifying the internal organs under the endoscope 201 by using the external imaging device 210, the characteristic position of the human organ, the medical image and the microscope comprises the following steps:
inputting the external imaging image and the characteristics of the contour, shape, texture, color, size and the like of the human organ under an in vivo microscope, inputting various disease models such as damaged tissue inflammation, tumor, cyst and the like, inputting the characteristic values of the internal organ image of the human body corresponding to the external characteristic values of each organ of the external imaging image and the in vivo microscope image, improving a deep neural network method and a weight optimizer, and obtaining the human organ image under the external imaging and the in vivo microscope through image training.
The micro robot issues the position area and the coordinates of the organs of the images under the in-vivo microscope, and establishes the coordinate reference conversion of the double images under the robot main control system by using a coordinate conversion method, so as to realize the matching of the organs and the coordinate positions of the organs under the double images of each organ.
Inputting the images into a model of various diseases such as damaged tissue inflammation, tumor, cyst and the like under an in vivo microscope and an in vitro imaging system. And identifying the disease under the dual-system image by using an improved neural network method and a weight optimizer, marking and drawing a disease position area and size under the dual-system image, and returning to a position coordinate. The intelligent identification module outputs the disease types, the disease organs and the position areas of abnormal diseases under the organs, and returns the identification results to the main control system.
Example 3:
as shown in fig. 2, the method for performing the non-invasive in vivo surgery with real-time image acquisition, high-precision positioning and remote control comprises the following steps:
the main control system issues disease images, position information of damaged tissues. The robot drive module 207, radio frequency, electromagnetic 203 directs the autonomous positioning mobile module to subscribe to location messages. The radio frequency and the electromagnetism 203 guide the autonomous positioning moving module to guide the in-vivo magnetic device 203 to drive the micro robot to swim and move to the position of the damaged tissue. According to the in-vivo vision device 201 and the in-vitro imaging device 210 issued by the main control system, double-precision positioning and double-precision identification methods of the disease images, organs and damaged tissues are realized. The normal area and the damaged area are divided with high precision. The surgical field delimiting the damaged area, the range of the administration position and its coordinates are determined. And issuing an action planning instruction message according to the main control system, checking the surgical device by the robot, and subscribing the instruction message by the robot treatment device.
Further, the action planning module comprises a robot inspection operation action plan and a robot treatment dosing action plan.
The robot checks the surgical device module, images in the camera body, and the guide device of the in vitro imaging 210 accurately positions the damaged tissue, accurately divides the damaged tissue region and the normal tissue region, and according to the damaged degree. The doctor remote end is controlled built-in miniature tweezers of internal miniature robot, miniature pliers, the scalable felting needle of puncture, miniature electrotome, miniature electricity congeals the device, miniature cauterization device, and operation devices 204 such as radio frequency device, laser device, damaged tissue inspection and execution operation realize the cutting, sew up, puncture, burn, electrotome, laser cutting, target treatment.
Example 4:
as shown in fig. 2, the intelligent calculation method of the optimized drug determination and its quantitative method is implemented as follows:
the method for determining the drug and the quantitative method thereof, the index of the immune environment in the monitored body, and the index of the tumor treatment microenvironment are constant.
The dosage and period of the main therapeutic drugs and common drugs are variable. And establishing a mathematical model of the internal immune environment of the body, an optimal mathematical model of the tumor treatment microenvironment and a mathematical model of the tumor treatment side effect, and calculating the optimal immune environment of the body.
The model variables are as follows:
classification of drugs: main therapeutic drug (main drug)m m∈{1，2，....M})
General mediation medicine (drug)n n∈{1，2，....N})
Main drug delivery m with main curative effect
Figure BSA0000237968380000111
Main drug without main drug administration
Figure BSA0000237968380000112
Drug delivery n for common drugs
Figure BSA0000237968380000113
Drug n without application of common drug
Figure BSA0000237968380000114
Number of main drugs administered
Figure BSA0000237968380000115
Number of ordinary medicines to be administered
Figure BSA0000237968380000121
Treatment cycle (t)t t∈{1，2，....T}).
Refractory parameters of treatment cycle
Figure BSA0000237968380000122
Disease (D)d d∈{1，2，....D}).
Number of damage points
Figure BSA0000237968380000123
Size of damaged tissue region
Figure BSA0000237968380000124
Extent of disease/extent of damage
Figure BSA0000237968380000125
Parameters of treatment method
Including major treatment methods (hard treatment index)
Figure BSA0000237968380000126
) And common drug therapy method
Figure BSA0000237968380000127
Basic Effect of disease treatment
Figure BSA0000237968380000128
Monitor index monitoreE belongs to {1, 2.. E }, and monitors the real-time index monitore-realtimeMonitor index standard monitore-std
Side effect monitoring indicator monitorsub-b b∈{1，2，....B}
drugnImmunopotency parameters
Figure BSA0000237968380000129
main drugmMicroenvironment efficacy parameter
Figure BSA00002379683800001210
main drugmNegative index efficacy of side effects of tumor treatment
Figure BSA00002379683800001211
● the internal immune environment is optimal:
Figure BSA00002379683800001212
● tumor therapy microenvironment is optimal:
Figure BSA00002379683800001213
● side effects of tumor treatment are minimal:
Figure BSA00002379683800001214
● medication reached optimal:
Figure BSA0000237968380000131
the planned application amount is mostly the medicines of radiation medicine, targeted medicine, chemotherapy medicine and the like.
● shortest treatment period:
Figure BSA0000237968380000132
s4, the restriction conditions comprise:
3) the maximum dosage of the medicine in the time period is within the upper limit range
4) The longest service life of the medicine
3) Within the standard range of the medication cycle
4) Within the region of the damaged tissue
5) The maximum side effects in the treatment period
6) Meets the basic medication curative effect of the disease.
7) Meets the basic dosage of the medicine.
S5, multiple targets comprise:
the immune environment inside the body is optimal, and the immune environment inside the body is optimal,
microenvironment optimization for tumor therapy
Has minimal side effects
Drug arrival optimality
Shortest treatment period
MIN(F)
Figure BSA0000237968380000133
Figure BSA0000237968380000141
The optimal regulation and control treatment is realized by combining one or more optimization methods, static treatment effect prediction and real-time dynamic treatment method drug adjustment methods, optimally regulating and controlling the drug amount, accurately positioning carcinogenic sites, specificity tumor cells and putting the drugs. And outputting the medicine and the medicine amount in different time periods.
According to the multi-objective optimization control method, the number of the applied radiopharmaceuticals (chemotherapeutic medicaments) is planned, the radiopharmaceuticals seeding path is planned, the dosing path and the coordinates of each seeding point are returned, the main control system issues the dosing path and the coordinates of each seeding point, the doctor remotely controls and autonomously controls the dosing device, and the dosing device is moved to each seeding point for dosing to implement the dosing.

Claims (10)

1. An intrabody micro-robotic device, optimized therapeutic regulation system and method, comprising:
a master control system for controlling the in vivo micro robotic device.
The intracorporeal micro robot device includes: the medical instrument comprises a visual identification module, a multi-sensor module, a lighting device, an internal walking driving device, a puncture device, a surgical examination processing device, a driving device, a soft support, a fixing device, a treatment device and an accurate dosing device.
An in vitro imaging apparatus for in vitro imaging, comprising: ultrasonic imaging, CT imaging, infrared near imaging, X-ray imaging and other imaging modes.
The miniature camera and the visual recognition module in vivo are used for collecting images in vivo, assisting in recognizing damaged tissues and tumors in vivo and positioning the positions of the damaged tissues and the tumors.
Light, illuminator, used for internal illumination, make a video recording and examine.
A multi-sensing module comprising: one or more of various sensors such as micro-biosensing, comprehensive gene sensing and the like are used for collecting the information of the sensor in vivo.
The driving device is used for driving the robot to move in the body in a direction without damage and with controllable speed.
The guide, the location, mobile device is connected with external imaging device, and through the internal micro robot location of external imaging system guide, remove, supplementary internal image of gathering, supplementary discernment internal damaged tissue, the internal damaged tissue of tumour and guide internal micro robot location, tumour. The positioning and guiding device comprises: RF radio frequency devices (external transmitter and internal receiver), electromagnetic guiding devices (electromagnetic devices such as external electromagnetic controller and internal micro coil), magnetic guiding devices (external magnetic controller and internal micro coil), etc. perform internal and external communication, guide the internal robot positioning, and move devices.
The soft support and the fixing device are used for swimming in vivo, stopping temporarily, damaging tissues and fixing the tumor position during surgical treatment.
A telescopic in vivo examination, surgical treatment apparatus comprising: one or more of a micro-tweezers, a micro-forceps, a puncture needle for puncture, a micro-electrotome, a micro-electrocoagulation device, a micro-cauterization device, a radio frequency device and a laser device. Used for in vivo examination, puncture, operation and ablation treatment.
Retractable treatment, accurate administration set, retractable treatment device for damaged tissue, drug particle implantation, placement device for radiation treatment, radioactive particle implantation treatment, and the like. The telescopic accurate dosing device is used for positioning damaged tissues and positions of tumors, calculating the damaged tissues, the sizes and the damage degrees of the tumors, accurately dosing, and is used for accurately dosing, dosing carcinogenic site drugs, specific tumor cell target dosing therapy, radiotherapy, radioactive particle implantation therapy and other various accurate dosing therapies.
2. The in vivo micro robotic device of claim 1, wherein the in vivo guiding device is used to move and position the organs such as oral cavity, nasal cavity, ear canal, navel, vagina, anus, etc. to reduce the risk of trauma in the external operation, and to realize the in vivo examination and operation without trauma, thereby realizing the in vivo real-time monitoring and the optimized control of the in vivo disease condition.
3. The in vivo micro-robotic device of claim 1, wherein the in vivo camera and the vision recognition module of the micro-camera are used in conjunction with the in vitro imaging device for high precision acquisition, assisted recognition of images of organs, damaged tissues, tumors, etc. to accurately recognize damaged tissues and normal tissue areas. The internal camera and the visual recognition module are used for collecting internal images, assisting in recognizing internal damaged tissues and tumors and positioning the internal damaged tissues and tumors. The visual recognition module comprises: one of the miniature endoscope, the miniature microscope and other in-vivo imaging devices works in cooperation with a plurality of types and the 3D imaging system and the in-vitro imaging guiding device to acquire and intelligently identify images of various in-vivo diseases.
4. The device of claim 1, wherein the driving means drives the robot to move in the body in a direction with controlled speed and without injury. The in vivo treatment is completed by using a soft bracket and a fixing device for temporary fixing, assisting an in vivo robot to perform operation, detecting damaged tissues and the like. Utilize the location, guiding device is connected with external imaging device, leads internal micro robot location through external imaging system, removes, and supplementary internal image of gathering assists the internal damaged tissue of discernment, the internal damaged tissue of tumour and guide internal micro robot location, tumour. The driving device is used for driving the micro-machine to move in the human body, walk and swim. The drive device includes: current drive, electromagnetic drive and magnetic drive. The positioning and guiding device comprises: RF radio frequency devices (external transmitter and internal receiver), electromagnetic guiding devices (electromagnetic devices such as external electromagnetic controller and internal micro coil), magnetic guiding devices (external magnetic controller and internal micro coil), etc. perform internal and external communication, guide the internal robot positioning, and move devices. Soft support and fixing device for in vivo tissue examination, damaged tissue, and fixation of tumor position during operation.
5. The in vivo micro robotic device of claim 1, wherein the multiple sensing modules monitor the in vivo environment in real time. The multi-sensing includes: the sensor is one or more of micro biological sensor, micro medical sensor, comprehensive gene sensor and other sensors, and is used for acquiring the information of the sensor in vivo and monitoring the environment in vivo in real time. The body environment includes: the in vivo immune environment and the tumor treatment microenvironment, and the in vivo environment during the monitoring period.
6. The intracorporeal micro robotic device of claim 1, wherein the intracorporeal examination and surgical treatment device. A surgical examination processing apparatus comprising: one or more of a micro forceps, a puncture telescopic puncture needle, a micro electrotome, a micro electrocoagulation device, a micro cauterization device, a radio frequency device and a laser device. Is used for examination, puncture and operation. Through the internal formation of image of camera, and the external damaged tissue of formation of image guider accurate positioning, damaged tissue area and normal tissue area are divided to the accuracy, according to damaged degree, adopt the distal end to control the built-in miniature tweezers of internal miniature robot device, miniature pliers, the scalable felting needle of puncture, miniature electrotome, miniature electricity congeals the device, miniature cauterizing the device, the radio frequency device, laser device realizes cutting, sews up, the puncture, burns, laser cutting, the target treatment.
7. The in vivo micro-robotic device as claimed in claim 1, wherein the retractable treatment, the precise drug delivery device, the particle implantation device and the method for optimizing the drug quantification according to the damaged location, the damaged area size and the damaged degree can achieve precise drug delivery, precise targeted treatment, and accurate division of the damaged tissue area and the normal tissue area to minimize the side effects of drug delivery and optimize the drug delivery effect. The telescopic accurate dosing device is used for positioning damaged tissues and positions of tumors, calculating the damaged tissues, the sizes and the damage degrees of the tumors, accurately dosing, and is used for accurately dosing, dosing carcinogenic site drugs, specific tumor cell target dosing therapy, radiotherapy, radioactive particle implantation therapy and other various accurate dosing therapies.
8. An in vivo micro-robot device, an optimized treatment regulation and control system and a method are characterized in that a double-precision positioning and double-precision identification method for organs and damaged tissues is adopted. The in vivo vision device, the two accurate discernment human organs of external image device, damaged tissue divide the high accurate discernment in normal region and damaged region.
The method for identifying internal organs under endoscope comprises the following steps:
s1, establishing the external imaging image and the characteristic model of the contour, shape, texture, color, size and the like of the human organ under the internal microscope.
S2, establishing various disease models such as damaged tissue inflammation, tumor, cyst and the like.
And S3, extracting the internal contours of organs of the in-vitro imaging image and the in-vivo microscopic image, and the characteristic values of each organ and the external position area of the human body corresponding to the external characteristics.
S4, inputting the characteristic values of the internal organ images of the human body corresponding to the external characteristic values of the organs of the in-vitro imaging images and the images under the in-vivo microscope, improving a deep neural network method and a weight optimizer, and obtaining output values, internal organ classification and organ recognition results through image training.
And S5, outputting a result, accurately classifying, and identifying the human organ images under the in vitro imaging and in vivo microscope.
The method for matching, positioning and accurately dividing the disease position and the normal tissue of the damaged tissue by the robot through double images comprises the following steps:
s1, distributing the organ position area and coordinate boundary of the microscope image in vivo by the micro robot, and subscribing the distributed image and position coordinate by the robot main system and the intelligent identification module.
S2, the in vitro imaging system module publishes the position area and the coordinate boundary of the organ of the in vitro imaging image, and the robot main system and the intelligent identification module subscribe the published image and the position coordinate.
And S3, establishing coordinate reference transformation of the double images under the robot main control system by using a coordinate transformation method, and matching the organs and the coordinate positions of the double images of each organ.
S4, establishing a model of the damaged tissue inflammation, tumor, cyst and other diseases of the image under the in vivo microscope.
S5, establishing models of various diseases such as image damaged tissue inflammation, tumor, cyst and the like under an in vitro imaging system.
S6, extracting the internal contour of the image organ under the in vitro imaging image and the in vivo microscope, the characteristic value under the disease model, the corresponding position area and the position coordinate.
S7, recognizing the disease under the dual-system image by using the improved neural network method and the weight optimizer, labeling and drawing the disease position area and size under the dual-system image, and returning to the position coordinate.
S8, the intelligent recognition module outputs the disease type, the disease organ and the position area of the abnormal disease under the organ, and returns the recognition result to the main control system.
9. A robot device, an optimization control system and a method are characterized in that an optimization method is adopted to regulate and control medicines and treatment methods. Drug regulation includes: drug selection, drug dosage and drug cycle. The method of modulating therapy comprises: the treatment modes comprise internal operation, common medicine precision treatment, target treatment, radiotherapy, radioactive particle implantation treatment, ablation treatment and the like. Setting the comprehensive indexes of various treatments as multiple targets, and optimizing and controlling the treatment scheme. The optimization method comprises the following steps: one or more of a genetic calculation method and an improvement method thereof, a tabu search calculation method and an improvement method thereof, a simulated annealing calculation method and an improvement method thereof, an ant colony calculation method and an improvement method thereof, a calculation method for particle beam optimization and an improvement method thereof, a neural network calculation method and an improvement method thereof, an evolution method and an improvement method thereof. By combining the static treatment effect prediction and the real-time dynamic treatment method, the medicine method is optimized, the medicine amount is regulated, the carcinogenic site and the specific tumor cell are accurately positioned, and the medicine is put in, so that the optimized regulation and treatment is realized. The specific steps of regulation and control are as follows:
s1, monitoring indexes of immune environment inside a body, wherein the indexes of a tumor treatment microenvironment are constants.
Optimal immune environment inside the body-sum of absolute values of the difference of the monitoring index and the standard index.
Optimal tumor treatment microenvironment-the sum of absolute values of the difference between the monitoring index and the standard index and the weight.
S2, main treatment methods (internal operation, common medicine precision treatment, target point treatment, radiotherapy, radioactive particle implantation treatment, ablation treatment and other treatment modes)
And the selection of the drugs, the dosage and the time period of the drugs for the common drug therapy are variables.
S3, respectively establishing a mathematical model of the immune environment inside the body, an optimal mathematical model of a tumor treatment microenvironment and a mathematical model of side effects of tumor treatment, wherein the mathematical model of arrival of the drugs is as follows:
variables are as follows:
classification of drugs: main therapeutic drug (main drug)m m∈{1，2，....M})
General mediation medicine (drug)n n∈{1，2，....N})
The main curative effect is medicine application
Figure FSA0000237968370000041
No medicine is applied to the main curative effect
Figure FSA0000237968370000042
Common drug administration
Figure FSA0000237968370000043
Common medicine is not applied
Figure FSA0000237968370000044
Number of main drugs administered
Figure FSA0000237968370000045
Number of ordinary medicines to be administered
Figure FSA0000237968370000046
Treatment cycle (t)t t∈{1，2，....T}).
Refractory parameters of treatment cycle
Figure FSA0000237968370000047
Disease (D)d d∈{1，2，....D}).
Number of damage points
Figure FSA0000237968370000048
Size of damaged tissue region
Figure FSA0000237968370000049
Extent of disease/extent of damage
Figure FSA00002379683700000410
Parameters of treatment method
Including major treatment methods (hard treatment index)
Figure FSA00002379683700000411
) And common drug therapy method
Figure FSA00002379683700000412
Basic Effect of disease treatment
Figure FSA00002379683700000413
Monitor index monitoreE belongs to {1, 2.. E }, and monitors the real-time index monitore-realtimeMonitor index standard monitore-std
Side effect monitoring indicator monitorsub-b b∈{1，2，....B}
drugnImmunopotency parameters
Figure FSA0000237968370000051
main drugmMicroenvironment efficacy parameter
Figure FSA0000237968370000052
main drugmNegative index efficacy of side effects of tumor treatment
Figure FSA0000237968370000053
● the internal immune environment is optimal:
Figure FSA0000237968370000054
● tumor therapy microenvironment is optimal:
Figure FSA0000237968370000055
● side effects of tumor treatment are minimal:
Figure FSA0000237968370000056
● medication reached optimal:
Figure FSA0000237968370000057
the planned application amount is mostly the medicines of radiation medicine, targeted medicine, chemotherapy medicine and the like.
● shortest treatment period:
Figure FSA0000237968370000058
s4, the restriction conditions comprise:
1) the maximum dosage of the medicine in the time period is within the upper limit range
2) The longest service life of the medicine
3) Within the standard range of the medication cycle
4) Within the region of the damaged tissue
5) The maximum side effects in the treatment period
6) Meets the basic medication curative effect of the disease.
7) Meets the basic dosage of the medicine.
S5, multiple targets comprise:
the immune environment inside the body is optimal, and the immune environment inside the body is optimal,
microenvironment optimization for tumor therapy
Has minimal side effects
Drug arrival optimality
Shortest treatment period
MIN(F)
Figure FSA0000237968370000061
Figure FSA0000237968370000062
S6, optimizing and controlling the medicament and the medicament amount, accurately positioning carcinogenic sites, specificity tumor cells and putting the medicament to realize optimized regulation and control treatment by combining one or more optimization methods through static treatment effect prediction and real-time dynamic treatment method medicament adjustment methods.
And S7, outputting the medicine and the medicine dosage in different time periods.
10. An intracorporeal micro-robotic device, optimized therapeutic regulation system and method, characterized by a highly accurate positioning, remotely controlled method of non-invasive intracorporeal surgery and a method of remote and autonomous drug delivery, said method comprising the steps of:
s1, the main control system issues the disease image and the position information of the damaged organization.
And S2, the robot driving module, the radio frequency receiver or the electromagnetic guiding autonomous positioning mobile module subscribes the position message.
And S3, the radio frequency receiver or the electromagnetic guiding magnet guides the self-positioning moving module to guide the magnetic device in the body to drive the micro robot to move to the position of the damaged tissue.
S4, according to the in vivo vision device and the disease image of the in vitro imaging device issued by the main control system, the double-precision positioning and double-precision identification method of the organ and the damaged tissue according to claim 7. The normal area and the damaged area are divided with high precision.
And S5, determining the operation range, the administration position range and the coordinates of the operation range, the administration position range and the administration position range which define the damaged area.
And S6, issuing an action planning instruction message according to the main control system, checking the surgical device by the robot, and subscribing the instruction message by the robot treatment device.
Further, the action planning module comprises a robot inspection operation action plan and a robot treatment dosing action plan.
S7, step S6, the robot checks the surgical device module, images in the camera body, and the in-vitro imaging guiding device accurately positions the damaged tissue, accurately divides the damaged tissue area and the normal tissue area, and according to the damaged degree. The medical doctor remote end controls built-in miniature tweezers, miniature pliers, puncture telescopic puncture needles, miniature electrotomes, miniature electrocoagulation devices, miniature cauterization devices, radio frequency devices, laser devices and other surgical devices, and the operation of damaged tissue inspection and operation execution is realized by cutting, suturing, puncturing, cauterizing, electrotome, laser cutting and targeted therapy.
S8, step S6, the robot treatment medication administration planning module images in the camera body, and the in-vitro imaging guiding device accurately positions the damaged tissue, accurately divides the damaged tissue area and the normal tissue area, and according to the damage degree.
S9, planning the quantity of the applied radiopharmaceuticals (chemotherapeutics) by using the method for adjusting and controlling the multi-objective optimization of the comprehensive therapeutic index according to claim 9, planning the seeding paths of the radiopharmaceuticals, and returning the dosing paths and the coordinates of the seeding points.
And S10, the main control system issues the dosing path and the coordinates of the seeding points, and the doctor performs remote control and autonomous control dosing.
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